WO2021261480A1 - Système de liaison de robot mobile autonome et robot mobile autonome - Google Patents

Système de liaison de robot mobile autonome et robot mobile autonome Download PDF

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Publication number
WO2021261480A1
WO2021261480A1 PCT/JP2021/023569 JP2021023569W WO2021261480A1 WO 2021261480 A1 WO2021261480 A1 WO 2021261480A1 JP 2021023569 W JP2021023569 W JP 2021023569W WO 2021261480 A1 WO2021261480 A1 WO 2021261480A1
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WIPO (PCT)
Prior art keywords
mobile robot
autonomous mobile
operation number
event
signpost
Prior art date
Application number
PCT/JP2021/023569
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English (en)
Japanese (ja)
Inventor
健男 唐牛
恒星 望月
斉 北野
Original Assignee
Thk株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Thk株式会社 filed Critical Thk株式会社
Priority to DE112021003332.8T priority Critical patent/DE112021003332T5/de
Priority to JP2022532490A priority patent/JP7489463B2/ja
Priority to US18/009,814 priority patent/US20230288939A1/en
Priority to CN202180043467.2A priority patent/CN115698889A/zh
Publication of WO2021261480A1 publication Critical patent/WO2021261480A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0297—Fleet control by controlling means in a control room

Definitions

  • the present invention relates to an autonomous mobile robot linkage system and an autonomous mobile robot.
  • the present application claims priority based on Japanese Patent Application No. 2020-107952 filed in Japan on June 23, 2020, the contents of which are incorporated herein by reference.
  • Patent Document 1 discloses a system including an unmanned traveling vehicle that autonomously moves in the environment, particularly a cleaning robot, and a door that is located in the environment and is provided with a door frame and a door.
  • the traveling vehicle has a detection device for detecting object data in the environment.
  • the door has an electronic actuator for changing the open state of the door so that the traveling vehicle can open the door without manually operating the door.
  • the control device provided in the traveling vehicle outputs a control command for operating the electronic actuator according to the operating state of the traveling vehicle and the position of the traveling vehicle.
  • the traveling vehicle of the above-mentioned prior art has a calculation means for creating a region map based on the object data detected by the detection device.
  • This area map or a file linked to the area map contains information about the spatial location of the door in the environment.
  • SLAM Simultaneous Localization and Mapping
  • advanced knowledge and complicated labor are required to change the area setting.
  • tape method in which a moving path of a traveling vehicle is formed by a magnetic tape and an event is generated by an ID tag, an auxiliary tape, or the like.
  • the place where the event occurs is limited to the place where the ID tag or the auxiliary tape is attached, it takes labor to change the place where the event occurs.
  • the present invention is an autonomous mobile robot linkage system and an autonomous mobile robot linkage system that can generate an event on a moving path at any timing without requiring advanced knowledge or complicated labor only by arranging a sign along the moving path.
  • the autonomous mobile robot linkage system moves along the movement path while reading a plurality of signs arranged along the movement path and the plurality of signs in order with a camera.
  • the autonomous mobile robot that performs a predetermined operation in the order of preset operation numbers based on the identification number read from the sign, and the operation number information being executed from the autonomous mobile robot is received, and the operation number is received.
  • a host device that generates an event in the movement path based on the above.
  • the autonomous mobile robot moves along the movement path while reading a plurality of signs arranged along the movement path in order with a camera, and the identification number read from the signs.
  • An autonomous mobile robot that performs a predetermined operation in the order of preset operation numbers based on the above, and includes an event generation unit that generates an event in the movement path based on the running operation number.
  • an event is generated on the movement path at any timing by simply arranging a sign along the movement path without requiring advanced knowledge or complicated labor. Can be made to.
  • FIG. 1 is a schematic plan view showing the overall configuration of the autonomous mobile robot linkage system 1 according to the first embodiment of the present invention.
  • the autonomous mobile robot linkage system 1 includes a movement path 10 in which a plurality of signposts SP0 to SP2 (markers) are arranged, an autonomous mobile robot 20 that moves along the movement path 10, and autonomous movement. It includes a higher-level device 30 of the robot 20 and a shutter device 40 (coordination device) provided in the movement path 10.
  • the "signpost” refers to a structure having a sign (sign) that can be read by a camera, which will be described later, and placed at a predetermined place on the movement path 10 or in the vicinity of the movement path 10.
  • the signature contains information about the identification number of the structure.
  • a first cell C11, C13 ! That can reflect light
  • a second cell C12, C21 ! That cannot reflect light, which will be described later, are arranged on a two-dimensional plane.
  • a one-dimensional code (bar code) and other two-dimensional codes are included.
  • FIG. 2 is a block diagram showing a configuration of the autonomous mobile robot 20 according to the first embodiment of the present invention.
  • the autonomous mobile robot 20 includes a signpost detection unit 21, a drive unit 22, a control unit 23, and a communication unit 24.
  • the sign post detection unit 21 has an irradiation unit 25, two imaging units 26, and a calculation unit 27. Further, the drive unit 22 includes a motor control unit 28, two motors 29, and left and right drive wheels 20L and 20R. It should be noted that the configuration of the signpost detection unit 21 is merely an embodiment, and other forms may be used.
  • the irradiation unit 25 is attached to the center position on the front surface of the autonomous mobile robot 20 in the traveling direction, and for example, irradiates the infrared LED light forward. Infrared LED light is suitable for dark places such as factories and places with strong visible light. The irradiation unit 25 may be configured to irradiate detection light other than infrared LED light.
  • the two image pickup units 26 are arranged on the left and right sides of the sign post detection unit 21.
  • a camera combined with an infrared filter is used as the two image pickup units 26, and the reflected light (infrared LED light) reflected by the sign post SP is imaged.
  • the calculation unit 27 forms a binarized image data consisting of black and white by performing a binarization process based on the imaging data transmitted from the two imaging units 26, and further uses the binarized image data.
  • a binarized image data consisting of black and white by performing a binarization process based on the imaging data transmitted from the two imaging units 26, and further uses the binarized image data.
  • the calculation unit 27 detects the identification number (identification ID) of the signpost SP, selects the target signpost SP, and selects the target signpost SP.
  • the distance Z to and the angle ⁇ are calculated.
  • the drive wheel 20L is provided on the left side with respect to the traveling direction of the autonomous mobile robot 20.
  • the drive wheel 20R is provided on the right side with respect to the traveling direction of the autonomous mobile robot 20.
  • the autonomous mobile robot 20 may have wheels other than the drive wheels 20L and 20R in order to stabilize the posture of the autonomous mobile robot 20.
  • the motor 29 rotates the left and right drive wheels 20L and 20R according to the control of the motor control unit 28.
  • the motor control unit 28 supplies electric power to the left and right motors 29 based on the angular velocity command value input from the control unit 23.
  • the left and right motors 29 rotate at an angular velocity according to the electric power supplied from the motor control unit 28, so that the autonomous mobile robot 20 moves forward or backward. Further, the traveling direction of the autonomous mobile robot 20 is changed by causing a difference in the angular velocities of the left and right motors 29.
  • the control unit 23 controls the drive unit 22 based on the information read from the signpost SP by the signpost detection unit 21.
  • FIG. 3 is a front view of the detected portion C of the sign post SP read by the sign post detection unit 21 according to the first embodiment of the present invention.
  • the signpost SP has a first cell (C11, C13 %) That can reflect infrared LED light and a second cell (C12, C21 ...) that cannot reflect infrared LED light.
  • a detected portion C arranged on a two-dimensional plane.
  • the detected portion C of the present embodiment is composed of a matrix pattern of 3 rows ⁇ 3 columns.
  • the detected unit C includes the first cell C11 in the first row and the first column, the second cell C12 in the first row and the second column, the first cell C13 in the first row and the third column, and the second row and 1 column.
  • the second cell C32 of the above and the first cell C33 of the third row and the third column are provided.
  • the first cells C11, C13, C22, C31, and C33 are formed of a material having a high reflectance of infrared LED light, such as an aluminum foil or a thin film of titanium oxide.
  • the second cells C12, C21, C23, and C32 are formed of a material having a low reflectance of infrared LED light, such as an infrared cut film, a polarizing film, an infrared absorber, and black felt.
  • the calculation unit 27 detects the sign post SP by performing the first scan S1 and the second scan S2 on the detected unit C.
  • the first scan S1 for example, the first cell C11, the second cell C12, and the first cell C13 arranged in "white, black, white” in the first row are detected.
  • the second scan S2 for example, the first cell C11, the second cell C21, and the first cell C31 arranged in "white, black, white” in the first row are detected.
  • the calculation unit 27 includes the remaining cells of the detected unit C (first cell C22 in the second row and second column, second cell C23 in the second row and third column, second cell C32 in the third row and second column, and so on.
  • the identification number (identification ID) of the sign post SP is read from the first cell C33) in the third row and third column. In the example shown in FIG. 3, the identification number of the signpost SP can be read by the calculation unit 27 with 4-bit information.
  • FIG. 4 is a diagram showing a movement example of the autonomous mobile robot 20 according to the first embodiment of the present invention.
  • the autonomous mobile robot 20 moves while maintaining a certain distance from the left side of the movement path 10.
  • the autonomous mobile robot 20 acquires the detected distance Z to the signpost SP and the direction ⁇ in order to maintain a constant distance Xref from the left side of the movement path 10, and the distance Z and the direction ⁇ are predetermined conditions. Calculate the traveling direction that satisfies.
  • the direction ⁇ is the angle formed by the traveling direction of the autonomous mobile robot 20 and the detected direction of the signpost SP.
  • the traveling direction satisfying the predetermined conditions is the traveling direction in which the direction ⁇ is arcsin (Xref / Z).
  • FIG. 5 is a block diagram showing the contents of cooperation between the autonomous mobile robot 20 and the host device 30 according to the first embodiment of the present invention.
  • FIG. 6 is a diagram showing an operation table of the autonomous mobile robot 20 according to the first embodiment of the present invention.
  • the operation table stores STEP input sequences in which the autonomous mobile robot 20 performs a predetermined operation in the order of preset operation numbers. ing.
  • the user can edit the operation table using the GUI software shown in FIG. 6 (for example, select each parameter from the pull-down menu).
  • the operation table is stored in each of the autonomous mobile robot 20 and the host device 30.
  • the number string on the left end of the page shown in FIG. 6 is the operation number.
  • Each operation number is associated with each item of "operation”, “parameter”, and “event issuance”.
  • the "parameter” includes "signpost size / operation”, “signpost No./rotation angle”, “following direction”, “signpost left-right distance”, and “signpost front-back distance”. The contents of each parameter will be described later together with the operation of the autonomous mobile robot 20.
  • the control unit 23 executes operations in the order of the operation numbers shown in FIG. 6 based on the identification number of the signpost SP read by the calculation unit 27.
  • the communication unit 24 communicates the operation number being executed by the control unit 23 to the host device 30 in real time. As shown in FIG. 5, the communication unit 24 of the present embodiment performs serial communication with the host device 30.
  • the host device 30 is configured by, for example, a PLC (Programmable Logic Controller) or the like, receives information on an operation number being executed from the autonomous mobile robot 20, and generates an event in the movement path 10 based on the operation number.
  • the host device 30 of the present embodiment grasps the position information of the autonomous mobile robot 20 from the running operation number of the autonomous mobile robot 20, and generates, for example, an event of opening and closing the shutter device 40 shown in FIG.
  • the host device 30 includes not only the position information of the autonomous mobile robot 20, but also the mileage of the autonomous mobile robot 20, the brightness of the sign post SP, the warning of the remaining battery level of the autonomous mobile robot 20, and the gain change of the autonomous mobile robot 20.
  • An event (sequence 1 to n) may be generated based on a change in the camera threshold of the autonomous mobile robot 20 or the like.
  • FIG. 7 is a flowchart showing an operation example of the autonomous mobile robot linkage system 1 based on the operation table shown in FIG. 6
  • FIG. 8 is an explanatory diagram showing a scene of the operation example shown in FIG. 7.
  • the autonomous mobile robot 20 located at the start point A shown in FIG. 1 moves forward in response to an "advance" event issued by the host device 30 based on the operation table shown in FIG.
  • the communication unit 24 serially communicates the operation number "0" to the host device 30.
  • the “operation” set in the operation number "1" is the detection of the "signpost".
  • the "signpost size” is “M”
  • the “signpost No.” is “0”
  • the “following direction” is “front”
  • the “signpost left-right distance” is “”.
  • "0" and "distance before and after the sign post” are “2”.
  • the autonomous mobile robot 20 targets the signpost SP0 whose signpost size is M size (other S, L, etc. can be set). Further, the follow-up direction of the autonomous mobile robot 20 with respect to the signpost SP0 (the traveling direction satisfying the above-mentioned predetermined condition) is the front (front), and the left-right distance of the signpost is 0 (0 with respect to the above-mentioned Xref (Fig.)). 4)), and the distance before and after the signpost is 2 meters (Z (see FIG. 4) described above, which is the switching distance of the signpost).
  • the communication unit 24 serially communicates this operation number "1" to the host device 30.
  • the host device 30 receives the operation number "1”
  • the host device 30 executes command analysis based on the operation number (step S201).
  • the host device 30 generates an event to open the shutter device 40 based on the operation number “1” (step S202), as shown in FIG.
  • the shutter device 40 includes a communication device (such as a radio) that communicates with the host device 30 and an actuator (not shown) that opens and closes the shutter.
  • the shutter device 40 opens the shutter in response to a command from the host device 30.
  • step S101 the autonomous mobile robot 20 then performs a predetermined operation set in the operation number "2".
  • the "operation” set in the operation number "2" is "forward” (step S102).
  • the parameter of the "operation” of this advance is "2". That is, the autonomous mobile robot 20 advances by 2 meters and passes through the shutter device 40.
  • the communication unit 24 serially communicates the operation number "2" to the host device 30.
  • step S101 when the sign post SP0 cannot be found (when step S101 is NO (the same applies when step S103 described later is NO and step S106 is NO)), the autonomous mobile robot 20 performs forward retry processing. Or issue an error message and stop (step S108).
  • the autonomous mobile robot 20 performs a predetermined operation set in the operation number "3" next to the operation number "2".
  • the “operation” set in the operation number "3" is the detection of the "signpost".
  • the "signpost” to be detected here the "signpost size” is “M”
  • the “signpost No.” is “1”
  • the “following direction” is “front”
  • the “signpost left-right distance” is “”.
  • “0" and "distance before and after the sign post” are "2".
  • the communication unit 24 serially communicates the operation number "3" to the host device 30.
  • the autonomous mobile robot 20 performs a predetermined operation set in the operation number "4".
  • the “operation” set in the operation number "4" is “rotation”.
  • the parameter of "operation” of this rotation is "right angle”, and the parameter of "rotation angle” is "90" degrees. That is, as shown in FIG. 1, the autonomous mobile robot 20 rotates 90 degrees to the right in front of the sign post SP1 (step S104). The autonomous mobile robot 20 moves forward after rotating 90 degrees to the right (step S105).
  • the autonomous mobile robot 20 performs a predetermined operation set in the operation number "5".
  • the “operation” set in the operation number "5" is the detection of the "signpost”.
  • the “signpost” detected here is “M” for “signpost size” and “2” for “signpost No.”, "following direction” is “front”, and “signpost left-right distance” is “signpost left / right distance”. "0" and “distance before and after the sign post” are “2".
  • the communication unit 24 serially communicates the operation number "5" to the host device 30.
  • the host device 30 executes command analysis based on the operation number (step S204).
  • the host device 30 generates an event to close the shutter device 40 based on the operation number “5” (step S203).
  • the shutter device 40 closes the shutter in response to a command from the host device 30.
  • the autonomous mobile robot 20 performs a predetermined operation set in the operation number "6".
  • the “operation” set in the operation number "6” is “rotation”.
  • the parameter of "operation” of this rotation is “rotation to the right”, and the parameter of "rotation angle” is "180" degrees. That is, as shown in FIG. 1, the autonomous mobile robot 20 rotates (reverses) 180 degrees to the right at the goal point B (step S107).
  • the communication unit 24 serially communicates the operation number "6" to the host device 30.
  • the predetermined operation set to the next operation number "7" is a "goal".
  • the communication unit 24 serially communicates the operation number "7" to the host device 30.
  • the host device 30 executes command analysis based on the operation number (step S205).
  • the host device 30 generates an event to notify the goal of the autonomous mobile robot 20 to a voice speaker (not shown) based on the operation number “7” (step S206).
  • the voice speaker receives a command from the host device 30, for example, and notifies the goal.
  • a series of operations of the autonomous mobile robot linkage system 1 in the situation shown in FIG. 1 is completed.
  • FIG. 9 is a schematic view showing an embodiment of the autonomous mobile robot linkage system 1 according to the first embodiment of the present invention.
  • FIG. 10 is an example of serial communication performed by the autonomous mobile robot linkage system 1 shown in FIG.
  • the autonomous mobile robot 20 moves from the factory A to the factory B along the movement path 10.
  • the movement path 10 has first to fourth gates (shutter devices), and the autonomous mobile robot 20 once goes out of the factory A and moves to the factory B.
  • Signpost SPs are arranged before and after each gate, and as described above, the host device 30 receives information on the running operation number from the autonomous mobile robot 20 and moves based on the operation number. Generate an event to open and close each gate on the route 10. As shown in FIG. 10, the operation number received by the host device 30 is accompanied by an index number (INDEX No.) relating to the outward route and the return route in the movement route 10 at the beginning thereof.
  • an index number (INDEX No.) relating to the outward route and the return route in the movement route 10 at the beginning thereof.
  • the host device 30 receives the index number and the operation number by serial communication. For example, when the index number is "0", it is the outward route, and when the index number is "1", it is the return route.
  • the host device 30 determines the outward route or the return route of the autonomous mobile robot 20 from the index number, and if it is a return route, opens and closes the shutter device 40 from the fourth gate side. As a result, even if the same signpost SP is detected, different events can be generated on the outward trip and the return trip.
  • the autonomous mobile robot 20 moves along the movement path 10 while reading a plurality of signpost SPs in order by the camera, and the identification read from the signpost SP. Based on the numbers, predetermined operations are performed in the order of preset operation numbers. As shown in FIG. 6, the operation table of the autonomous mobile robot 20 by following the sign post SP is a STEP type setting method.
  • the actual installation location of the signpost SP and the operation number of the operation table match as position information. That is, by transmitting the running operation number of the autonomous mobile robot 20 to the host device 30, the autonomous mobile robot 20 can issue an event and perform another sequence control even during the main transport operation.
  • the user links the position information of the autonomous mobile robot 20 to the installation location of the signpost SP, so that one or a plurality of necessary events can be performed at an arbitrary timing. It can be easily generated at the same time by using the device 30. Further, at this time, it is not necessary to change the layout of the signpost SP or stop the movement of the autonomous mobile robot 20, and it is possible to control the operation of the autonomous mobile robot 20 and the event at the same time.
  • the setting is completed by editing the operation table shown in FIG. 6 by input from a PC or the like, so it is necessary to attach an additional tape or the like for each event like a tape type AGV. There is no.
  • the operation table shown in FIG. 6 is edited, it is not necessary to change the installation location of the sign post SP, and the event can be easily changed.
  • the position of the error occurrence location is the STEP input setting method, it is easy to take a means of tracking the operation order or time series.
  • the plurality of signpost SPs arranged along the movement path 10 and the plurality of signpost SPs are sequentially read by the camera while moving along the movement path 10.
  • the autonomous mobile robot 20 that performs a predetermined operation in the order of the preset operation number and the operation number information being executed are received from the autonomous mobile robot 20, and the operation number is received.
  • the shutter device 40 provided in the movement path 10 is provided, and the higher-level device 30 is a shutter device based on the running operation number of the autonomous mobile robot 20. Generates an event that opens and closes 40. According to this configuration, the movement of the autonomous mobile robot 20 can be prevented from being delayed by the shutter device 40, and the takt time of the work of the autonomous mobile robot 20 can be improved.
  • the host device 30 takes the shutter device 40 in the movement path 10 before reaching the sign post SP0 read by the autonomous mobile robot 20. Generates an event that opens and closes. According to this configuration, the shutter device 40 can be opened in advance, and the autonomous mobile robot 20 can pass through the shutter device 40 without pausing in front of the shutter device 40.
  • the conventional tape type AGV if an ID tag or an auxiliary tape for generating an event is attached to the place of the sign post SP0 shown in FIG. 1, the autonomous mobile robot 20 attaches the ID tag or the auxiliary tape. Since the event is issued after reaching the pasted place, the shutter device 40 cannot be opened in advance, and the autonomous mobile robot 20 needs to be temporarily stopped in front of the shutter device 40.
  • the same signpost SP is detected as shown in FIG. 9 by attaching an index number relating to the outward route and the inbound route in the movement route 10 to the operation number. Even if you do, you can generate different events on the outbound and inbound journeys.
  • the signpost SP has a first cell (C11, C13 %) That can reflect light and a second cell (C12, C21 ...) That cannot reflect light.
  • the autonomous mobile robot 20 has an imaging unit 26 that captures the reflected light of the detected portion C with a camera and an imaging unit 26 as shown in FIG.
  • the calculation unit 27 that reads the identification number of the signpost SP based on the image pickup data captured by the unit 26, the control unit 23 that executes the operation in the order of the operation number based on the identification number, and the control unit 23 execute the operation.
  • It is provided with a communication unit 24 that communicates the operation number inside to the host device 30. According to this configuration, the signpost SP can be detected inexpensively and accurately, and the operation number being executed by the control unit 23 can be communicated to the host device 30.
  • FIG. 11 is a schematic plan view showing the overall configuration of the autonomous mobile robot linkage system 1 according to the second embodiment of the present invention. As shown in FIG. 11, in the second embodiment, a plurality of autonomous mobile robots 20 are moving along the movement path 10. Further, the movement route 10 is provided with a plurality of intersections 11.
  • the host device 30 of the second embodiment generates an intersection control event and controls the autonomous mobile robots 20 so that they do not collide with each other at the intersection 11. Specifically, the host device 30 is based on the operation number of the autonomous mobile robot 20 so that the other autonomous mobile robots 20A and 20B (second autonomous mobile robots) do not enter the same intersection 11 as the autonomous mobile robot 20. From the position information, an event for suspending the other autonomous mobile robots 20A and 20B is generated.
  • FIG. 12 is a diagram showing an operation table of the autonomous mobile robot 20 according to the second embodiment of the present invention.
  • FIG. 13 is a flowchart showing an operation example of the autonomous mobile robot linkage system 1 based on the operation table shown in FIG.
  • the autonomous mobile robot 20 located at the start point A shown in FIG. 11 moves forward in response to an "advance" event issued by the host device 30 based on the operation table shown in FIG.
  • the communication unit 24 serially communicates the operation number "0" to the host device 30.
  • the “operation” set in the operation number "1" is the detection of the "signpost".
  • the "signpost size” is “M”
  • the “signpost No.” is “0”
  • the “following direction” is “front”
  • the “signpost left-right distance” is “”.
  • "0" and "distance before and after the sign post” are “2”.
  • the autonomous mobile robot 20 targets the signpost SP0 whose signpost size is M size (other S, L, etc. can be set). Further, the follow-up direction of the autonomous mobile robot 20 with respect to the signpost SP0 (the traveling direction satisfying the above-mentioned predetermined condition) is the front (front), and the left-right distance of the signpost is 0 (0 with respect to the above-mentioned Xref (Fig.)). 4)), and the distance before and after the signpost is 2 meters (Z (see FIG. 4) described above, which is the switching distance of the signpost).
  • the communication unit 24 serially communicates this operation number "1" to the host device 30.
  • the autonomous mobile robot 20 performs a predetermined operation set in the operation number "2".
  • the "operation” set in the operation number "2" is "forward” (step S112).
  • the parameter of the "operation” of this advance is "2". That is, the autonomous mobile robot 20 advances by 2 meters and enters the first intersection 11A.
  • the communication unit 24 serially communicates the operation number "2" to the host device 30.
  • step S111 when the sign post SP0 cannot be found (when step S111 is NO (the same applies when step S113 described later is NO and step S116 is NO)), the autonomous mobile robot 20 performs forward retry processing. Or issue an error message and stop (step S119).
  • the host device 30 executes command analysis based on the operation number. Then, the host device 30 generates an event (intersection control 1) to suspend the autonomous mobile robot 20A trying to enter the intersection 11A at the same timing as the autonomous mobile robot 20 based on the operation number "2" (step). S210).
  • the autonomous mobile robot 20A receives a command from the host device 30 and temporarily stops before the intersection 11A.
  • the autonomous mobile robot 20 performs a predetermined operation set in the operation number "3" next to the operation number "2".
  • the “operation” set in the operation number "3" is the detection of the "signpost".
  • the "signpost” to be detected here the "signpost size” is “M”
  • the “signpost No.” is “1”
  • the “following direction” is “front”
  • the “signpost left-right distance” is “”.
  • “0" and "distance before and after the sign post” are “2”.
  • the communication unit 24 serially communicates the operation number "3" to the host device 30.
  • the autonomous mobile robot 20 performs a predetermined operation set in the operation number "4".
  • the “operation” set in the operation number "4" is “rotation”.
  • the parameter of "operation” of this rotation is "right angle”, and the parameter of "rotation angle” is "90" degrees. That is, as shown in FIG. 11, the autonomous mobile robot 20 rotates 90 degrees to the right at the intersection 11A (step S114).
  • the communication unit 24 serially communicates the operation number "4" to the host device 30.
  • the autonomous mobile robot 20 performs a predetermined operation set in the operation number "5".
  • the “operation” set in the operation number "5" is "forward” (step S115).
  • the parameter of the "operation” of this advance is "2". That is, the autonomous mobile robot 20 advances by 2 meters and enters the second intersection 11B.
  • the communication unit 24 serially communicates the operation number "5" to the host device 30.
  • the host device 30 When the host device 30 receives the operation number "5", it first detects that the autonomous mobile robot 20 has passed the intersection 11A based on the operation number "5", and temporarily stops before the intersection 11A. Generates an operation permission event for the autonomous mobile robot 20A. As a result, the autonomous mobile robot 20A can enter the intersection 11A.
  • the host device 30 executes command analysis based on the operation number. Based on the operation number "5", the host device 30 generates an event (intersection control 2) for suspending the autonomous mobile robot 20B trying to enter the second intersection 11B at the same timing as the autonomous mobile robot 20. (Step S210).
  • the autonomous mobile robot 20B receives a command from the host device 30 and temporarily stops before the intersection 11B.
  • the autonomous mobile robot 20 performs a predetermined operation set in the operation number "6".
  • the “operation” set in the operation number "6" is the detection of the "signpost".
  • the “signpost” detected here is “M” for "signpost size” and “2” for “signpost No.”, "following direction” is “front”, and “signpost left-right distance” is “signpost left / right distance”. "0" and “distance before and after the sign post" are “2".
  • the communication unit 24 serially communicates the operation number "6" to the host device 30.
  • the autonomous mobile robot 20 performs a predetermined operation set in the operation number "7".
  • the “operation” set in the operation number "7” is “rotation”.
  • the parameter of "operation” of this rotation is "right angle”, and the parameter of "rotation angle” is "90" degrees. That is, as shown in FIG. 11, the autonomous mobile robot 20 rotates 90 degrees to the right at the intersection 11B (step S117).
  • the communication unit 24 serially communicates the operation number "7" to the host device 30.
  • the autonomous mobile robot 20 performs a predetermined operation set in the operation number "8".
  • the "operation” set in the operation number "8" is "forward” (step S118).
  • the parameter of the "operation” of this advance is "2". That is, the autonomous mobile robot 20 advances by 2 meters and moves to the goal point B.
  • the communication unit 24 serially communicates the operation number "8" to the host device 30.
  • the host device 30 When the host device 30 receives the operation number "8", it detects that the autonomous mobile robot 20 has passed the intersection 11B based on the operation number "8", and temporarily stops before the intersection 11B. Generates an operation permission event for the autonomous mobile robot 20B. As a result, the autonomous mobile robot 20B can enter the intersection 11B.
  • the predetermined operation set to the next operation number "9" is a "goal".
  • the communication unit 24 serially communicates the operation number "9" to the host device 30.
  • the host device 30 receives the operation number "9”
  • the host device 30 generates an event to notify the goal of the autonomous mobile robot 20 to a voice speaker (not shown), as in the first embodiment described above.
  • a series of operations of the autonomous mobile robot linkage system 1 in the situation shown in FIG. 11 is completed.
  • the movement path 10 is provided with the intersections 11A and 11B, and as a linking device linked to the autonomous mobile robot 20, another autonomous movement of the movement path 10 is performed.
  • the mobile robots 20A and 20B (second autonomous mobile robots) are provided, and the host device 30 goes to the same intersection 11 as the autonomous mobile robot 20 by the other autonomous mobile robots 20A and 20B based on the operation number of the autonomous mobile robot 20. Raises an event that suspends the entry of.
  • this configuration when a plurality of autonomous mobile robots 20 are moving in the movement path 10 having the intersection 11, it is possible to prevent the autonomous mobile robots 20 from colliding with each other at the intersection 11.
  • the one that communicates with the higher-level device 30 may proceed first, and the others may wait. Further, even when three or more autonomous mobile robots 20 are about to enter the intersection 11, it is preferable to give priority to the order in which the higher-level device 30 is communicated first.
  • FIG. 14 is a schematic plan view showing the overall configuration of the autonomous mobile robot linkage system 1 according to the third embodiment of the present invention.
  • the power transmission device 50 is provided in the movement path 10, and the power receiving device 51 is provided in the autonomous mobile robot 20.
  • the power transmission device 50 supplies power to the power receiving device 51 in a non-contact manner.
  • the autonomous mobile robot 20 receives high-frequency power from the power transmission device 50 in a non-contact manner by utilizing, for example, magnetic coupling or magnetic resonance between the primary coil included in the power transmission device 50 and the secondary coil included in the power reception device 51. receive.
  • the power receiving device 51 includes a battery of the autonomous mobile robot 20 (a secondary battery capable of storing sufficient power as a drive power source) by converting the received power received from the power transmission device 50 by non-contact power supply into DC power.
  • a power conversion circuit that supplies power to a large-capacity electric double-layer capacitor or the like is provided.
  • the host device 30 of the third embodiment generates a wireless charging control event that automatically starts power supply when the autonomous mobile robot 20 (power receiving device 51) moves to a position facing the power transmission device 50. Specifically, the host device 30 detects the position of the autonomous mobile robot 20 based on the operation number of the autonomous mobile robot 20, and generates an event of starting and stopping power supply by the power transmission device 50.
  • FIG. 15 is a diagram showing an operation table of the autonomous mobile robot 20 according to the third embodiment of the present invention.
  • FIG. 16 is a flowchart showing an operation example of the autonomous mobile robot linkage system 1 based on the operation table shown in FIG.
  • the autonomous mobile robot 20 located at the start point A shown in FIG. 14 moves forward in response to an "advance" event issued by the host device 30 based on the operation table shown in FIG.
  • the communication unit 24 serially communicates the operation number "0" to the host device 30.
  • the “operation” set in the operation number "1" is the detection of the "signpost".
  • the "signpost size” is “M”
  • the “signpost No.” is “0”
  • the “following direction” is “front”
  • the “signpost left-right distance” is “”.
  • "0" and "distance before and after the sign post” are “2”.
  • the autonomous mobile robot 20 targets the signpost SP0 whose signpost size is M size (other S, L, etc. can be set). Further, the follow-up direction of the autonomous mobile robot 20 with respect to the signpost SP0 (the traveling direction satisfying the above-mentioned predetermined condition) is the front (front), and the left-right distance of the signpost is 0 (0 with respect to the above-mentioned Xref (Fig.)). 4)), and the distance before and after the signpost is 2 meters (Z (see FIG. 4) described above, which is the switching distance of the signpost).
  • the communication unit 24 serially communicates this operation number "1" to the host device 30.
  • the autonomous mobile robot 20 performs a predetermined operation set in the operation number "2".
  • the “operation” set in the operation number "2” is "standby” (step S122).
  • the communication unit 24 serially communicates the operation number "2" to the host device 30.
  • step S121 If the sign post SP0 cannot be found (when step S121 is NO (the same applies when step S124 described later is NO and step S128 is NO)), the autonomous mobile robot 20 performs forward retry processing. Do this, or issue an error message and stop (step S130).
  • the host device 30 executes command analysis based on the operation number. Then, the host device 30 generates an event (wireless charge control 1) in which the power transmission device 50A performs non-contact power supply to the autonomous mobile robot 20 waiting in front of the sign post SP0 based on the operation number "2". (Step S220). The power transmission device 50A receives a command from the host device 30 and starts power transmission.
  • the autonomous mobile robot 20 monitors the battery voltage and automatically proceeds to the next step when the battery voltage exceeds a predetermined set value.
  • the battery installation value may be set by the GUI shown in FIG.
  • the host device 30 stops the power transmission of the power transmission device 50A when the autonomous mobile robot 20 advances to the next step.
  • the autonomous mobile robot 20 performs a predetermined operation set in the operation number "3" as the next step after the operation number "2".
  • the "operation” set in the operation number "3" is "forward” (step S123).
  • the parameter of the "operation” of this advance is "2". That is, the autonomous mobile robot 20 advances by 2 meters.
  • the communication unit 24 serially communicates the operation number "3" to the host device 30.
  • the autonomous mobile robot 20 performs a predetermined operation set in the operation number "4".
  • the “operation” set in the operation number "4" is the detection of the "signpost".
  • the "signpost” to be detected here the "signpost size” is “M”
  • the “signpost No.” is “1”
  • the “following direction” is “front”
  • the “signpost left-right distance” is “”.
  • “0" and "distance before and after the sign post” are "2”.
  • the communication unit 24 serially communicates the operation number "4" to the host device 30.
  • the autonomous mobile robot 20 performs a predetermined operation set in the operation number "5".
  • the “operation” set in the operation number "5" is “rotation”.
  • the parameter of "operation” of this rotation is “right angle”, and the parameter of "rotation angle” is "90" degrees. That is, as shown in FIG. 14, the autonomous mobile robot 20 rotates 90 degrees to the right (step S125).
  • the communication unit 24 serially communicates the operation number "5" to the host device 30.
  • the autonomous mobile robot 20 performs a predetermined operation set in the operation number "6".
  • the "operation” set in the operation number "6” is "standby” (step S126).
  • the communication unit 24 serially communicates the operation number "6" to the host device 30.
  • the host device 30 executes command analysis based on the operation number. Then, the host device 30 generates an event (wireless charge control 2) in which the power transmission device 50B performs non-contact power supply to the autonomous mobile robot 20 waiting in front of the sign post SP1 based on the operation number "6". (Step S220). The power transmission device 50B receives a command from the host device 30 and starts power transmission.
  • an event wireless charge control 2
  • the power transmission device 50B performs non-contact power supply to the autonomous mobile robot 20 waiting in front of the sign post SP1 based on the operation number "6”.
  • the autonomous mobile robot 20 monitors the battery voltage and automatically proceeds to the next step when the battery voltage exceeds a predetermined set value.
  • the host device 30 stops the power transmission of the power transmission device 50B when the autonomous mobile robot 20 advances to the next step.
  • the autonomous mobile robot 20 performs a predetermined operation set in the operation number "7" as the next step after the operation number "6".
  • the "operation” set in the operation number "7” is "forward” (step S123).
  • the parameter of the "operation” of this advance is "2". That is, the autonomous mobile robot 20 advances by 2 meters.
  • the communication unit 24 serially communicates the operation number "7" to the host device 30.
  • the autonomous mobile robot 20 performs a predetermined operation set in the operation number "8".
  • the “operation” set in the operation number "8" is the detection of the "signpost".
  • the “signpost” detected here is “M” for “signpost size” and “2” for “signpost No.”, "following direction” is “front”, and “signpost left-right distance” is “signpost left / right distance”. "0" and “distance before and after the sign post" are “2".
  • the communication unit 24 serially communicates the operation number "8" to the host device 30.
  • the autonomous mobile robot 20 performs a predetermined operation set in the operation number "9".
  • the “operation” set in the operation number "9” is “rotation”.
  • the parameter of "operation” of this rotation is “rotation to the right”, and the parameter of "rotation angle” is "180" degrees. That is, as shown in FIG. 1, the autonomous mobile robot 20 rotates (reverses) 180 degrees to the right at the goal point B (step S129).
  • the communication unit 24 serially communicates the operation number "9" to the host device 30.
  • the predetermined operation set to the next operation number "10" is a "goal".
  • the communication unit 24 serially communicates the operation number "10" to the host device 30.
  • the host device 30 receives the operation number "10”
  • the host device 30 generates an event to notify the goal of the autonomous mobile robot 20 to a voice speaker (not shown), as in the above-described embodiment.
  • a series of operations of the autonomous mobile robot linkage system 1 in the situation shown in FIG. 14 is completed.
  • the autonomous mobile robot 20 includes a power receiving device 51, and is provided in the moving path 10 as a linking device linked to the autonomous mobile robot 20 to receive the power receiving device 51.
  • a power transmission device 50 that feeds power in a non-contact manner is provided, and the host device 30 generates an event to start and stop power supply by the power transmission device 50 based on the operation number of the autonomous mobile robot 20.
  • the power transmission device 50 may be installed not only in the middle of the movement route 10 but also at the start point A and the goal point B. Further, the host device 30 starts power supply, and after a certain period of time, if the battery voltage of the autonomous mobile robot 20 does not exceed the set value, a power supply error is generated, and the autonomous mobile robot 20 is advanced to the next step. Alternatively, the autonomous mobile robot 20 may be stopped.
  • the host device 30 generates an event for controlling the linking device based on the operation number of the autonomous mobile robot 20 with respect to the linking device located near the moving path 10 or the moving path 10.
  • This linking device is not limited to the shutter device 40, the autonomous mobile robots 20A and 20B (second autonomous mobile robot), and the power transmission device 50 described above.
  • the linking device may be a conveyor device that delivers the load of the autonomous mobile robot 20. In this case as well, an event that is similarly generated from the above-mentioned GUI can be set.
  • the autonomous mobile robot 20 may independently generate an event. .. That is, the autonomous mobile robot 20 moves along the movement path 10 while sequentially reading a plurality of signposts SP arranged along the movement path 10 with a camera, and is based on the identification number read from the signpost SP.
  • the autonomous mobile robot 20 may perform predetermined operations in the order of preset operation numbers, and may include an event generation unit that generates an event in the movement path 10 based on the operation number being executed.
  • This event generation unit corresponds to, for example, a communication device that issues a command to the shutter device 40 or the like.
  • an event can be generated on the movement path at any timing without requiring advanced knowledge and complicated labor.
  • Autonomous mobile robot linkage system 10 Movement path 20 Autonomous mobile robot 20A Autonomous mobile robot (second autonomous mobile robot, linkage device) 20B autonomous mobile robot (second autonomous mobile robot, linkage device) 20L Drive wheel 20R Drive wheel 21 Signpost detection unit 22 Drive unit 23 Control unit 24 Communication unit 25 Irradiation unit 26 Imaging unit 27 Calculation unit 28 Motor control unit 29 Motor 30 Upper device 40 Shutter device (linkage device) 50 Power transmission device (linkage device) 51 Power receiving device A Start point B Goal point C, C1, C2 Detection unit C11, C13, C22, C31, C33 First cell C12, C21, C23, C32 Second cell SP, SP0, SP1, SP2 Sign post (marker) )

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention concerne un système de liaison de robot mobile autonome (1) équipé : d'une pluralité de montants de signalisation (SP0-SP2) positionnés le long d'un trajet de déplacement (10) ; d'un robot mobile autonome (20) qui lit la pluralité de montants de signalisation (SP0-SP2) dans l'ordre à l'aide d'une caméra tout en se déplaçant le long du trajet de déplacement (10) et en réalisant une opération prescrite dans l'ordre du numéro de fonctionnement prédéfini sur la base d'un numéro d'identification lu à partir des montants de signalisation (SP0-SP2) ; et d'un dispositif hôte (30) qui reçoit des informations concernant le numéro de fonctionnement exécuté à partir du robot mobile autonome (20), et sur la base dudit numéro de fonctionnement, produit un événement sur le trajet de déplacement (10).
PCT/JP2021/023569 2020-06-23 2021-06-22 Système de liaison de robot mobile autonome et robot mobile autonome WO2021261480A1 (fr)

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DE112021003332.8T DE112021003332T5 (de) 2020-06-23 2021-06-22 System zur Verknüpfung eines autonomen Mobilroboters und autonomer Mobilroboter
JP2022532490A JP7489463B2 (ja) 2020-06-23 2021-06-22 自律移動ロボット連係システム及び自律移動ロボット
US18/009,814 US20230288939A1 (en) 2020-06-23 2021-06-22 Autonomous mobile robot linkage system and autonomous mobile robot
CN202180043467.2A CN115698889A (zh) 2020-06-23 2021-06-22 自主移动机器人联动系统以及自主移动机器人

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US20230288939A1 (en) 2023-09-14
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